Test Input Signals

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For the purposes of Analysis and Design, it is customary to consider the effect
of certain standard inputs, which subject the system to sudden changes
The Most Commonly Used Test Input Signals

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Concept of Poles and Zeros

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Poles of Transfer Function

Those values of Laplace Variable, s, that cause the transfer function to
become infinite
Zeros of Transfer Function
Those values of Laplace Variable, s, that cause the transfer function to
become zero
Example: Determine the poles and zeros of the following transfer function

s 2 5s 6
T (s)
( s 1)( s 2 13s 42)
Answer:

s 2 5s 6
( s 2)( s 3)
T (s)

( s 1)( s 2 13s 42) ( s 1)( s 6)( s 7)

Zeros: s = -2, -3
Poles: s = -1, -6, -7

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Roles of Poles and Zeros

Example: Given the following block diagram with a step input:

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The Input Pole generates the form of Forced Response

A pole of the transfer function generates the form of Natural Response,
i.e. the exponential response. The further to the left a pole is on the
negative real axis, the faster the exponential will decay to zero
A zero helps generate the amplitude for both the steady state and
transient response

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First Order System Response and Specification

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b
b
1

a
a

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Change the numerator to 40, such that T(s) = 40/(s+50)

It will not change the settling time, time constant, rise time
It will only affect the steady state value, and hence steady state error

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A Closed Loop First Order System: An Example

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Error can be controlled

through gain K

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Example

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Could we use the same equations used for the Open Loop First Order System?
YES. Once you simplify the T(s) of the Closed Loop to a form T(s) = b/(s+a), then
you may use the same equations involving a and b

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Second Order System

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Based on the system poles which determine the Natural Response

of the2007
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system:
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Overdamped Response
Underdamped Response
Oscillatory Response
Critically Response

Overdamped Response
Poles:

Two REAL at s = 1 and 2

y (t ) K1e 1t K 2e 2t
Transient Response:
Two Exponentials with time constants equal to the
reciprocal of the pole locations
Example:

Y (s)

9
9
R
(
s
)

R(s)
s 2 9s 9
( s 1.146)( s 7.854)

With a Unit step input (1/s) the response is:

y (t ) 1 0.171e 7.854t 1.171e 1.146t

Poles = s = -1.146 and -7.854

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Underdamped Response
Poles:

Two COMPLEX at s = d j d

y (t ) K1e d t cos d t e d t K 2 cos d t K 3 sin d t

where :
Transient Response:

tan 1

K3
K2

Damped Sinusoid with an exponential envelope whose

time constant is equal to the reciprocal of the poles
real part.

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Example:

Y ( s)

9
9
R
(
s
)

R(s)
2
s 3s 9
( s 1.5 j 2.59)( s 1.5 j 2.59)

With a Unit step input (1/s) the response is:

y (t ) 1 1.55e 1.5t cos 2.558t 30o

Poles = s = -1.5 j 2.59

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Oscillatory Response
Poles:

Two IMAGINARY at s = j1

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y (t ) K1 cos 1t
Transient Response:

Example:

Undamped Sinusoid with Radian frequency equal to

the imaginary part of the poles

Y ( s)

9
9
R
(
s
)

R(s)
2
s 9
( s j 3)( s j 3)

With a Unit step input (1/s) the response is:

y (t ) 1 cos 3t
Poles = s = j3

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Critically Damped Response

Poles:

Equal and REAL at s = 1

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y (t ) K1e 1t K 2te 1t
Transient Response:

Example:

One term is an Exponential whose time constant is

equal to the reciprocal of the Pole Location. Another
is the product of time t and the same exponential term.

Y (s)

9
9
R
(
s
)

R(s)
s 2 6s 9
( s 3) 2

With a Unit step input (1/s) the response is:

y (t ) 1 3te 3t e 3t
Poles = s = 3

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2nd Order System: Underdamped Response Specifications

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1ststeady
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2. Percent Overshoot: The Amount that the waveform overshoots the
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state, or final value at the Peak Time, expressed
percentage of the steady state value

3. Settling Time:

The Amount of time required for the transients Damped

Oscillations to stay within 2% of the steady state

4. Rise Time:

The time required for the waveform to go from 10% to 90% of

its Final Value

Example:

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What if the damping ratio is not within the specified range to find the Rise Time?
From the Text Book, page 232

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The effect of varying Natural Frequency given a damping ratio

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The response is faster as the natural frequency increases. However, the

Percent Overshoot remains the same, since:

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The effect of varying Damping Ratio given a Natural Frequency

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As Damping Ratio increases:

Response becomes less oscillatory
The Peak Time Increases
Percent Overshoot Decreases
Rise Time Increases

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ESTIMATION OF DAMPING RATIO GIVEN y(t) with STEP INPUT
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If we know y(t) of a system, say from a step input, after applying a step input then
the damping ratio may be estimated as follows:
1.
Find a Point on y(t) where the value settles within 2% of the final value
2.
Count how many cycles from y(t) = 0 to the point obtained in 1 = # cycles
3.
Damping Ratio = 0.55 / (# cycles)

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